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Utilization of the bias momentum approach for capturing a tumbling satellite
Description
This paper deals with problems related to the capture of a tumbling satellite by a space robot. The minimization of the base attitude deviation after the contact with the target is discussed from the viewpoint of angular momentum distribution. A new capturing strategy utilizing bias momentum is introduced. By using the null space of the coupling inertia matrix we present a method for angular momentum redistribution while following a desired trajectory.
Journal
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- 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)
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2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566) 4 3333-3338, 2005-04-12
IEEE